CN105143647A - Method for adapting transient compensation - Google Patents
Method for adapting transient compensation Download PDFInfo
- Publication number
- CN105143647A CN105143647A CN201480021028.1A CN201480021028A CN105143647A CN 105143647 A CN105143647 A CN 105143647A CN 201480021028 A CN201480021028 A CN 201480021028A CN 105143647 A CN105143647 A CN 105143647A
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- Prior art keywords
- fuel
- injection valve
- sprayed
- fuel quantity
- method step
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000001052 transient effect Effects 0.000 title abstract 2
- 239000000446 fuel Substances 0.000 claims abstract description 119
- 238000002485 combustion reaction Methods 0.000 claims abstract description 36
- 238000002347 injection Methods 0.000 claims abstract description 34
- 239000007924 injection Substances 0.000 claims abstract description 34
- 238000012360 testing method Methods 0.000 claims abstract description 21
- 238000010304 firing Methods 0.000 claims description 31
- 230000007704 transition Effects 0.000 claims description 31
- 230000003044 adaptive effect Effects 0.000 claims description 14
- 230000006978 adaptation Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 description 12
- 239000000523 sample Substances 0.000 description 6
- 239000007921 spray Substances 0.000 description 6
- 230000008016 vaporization Effects 0.000 description 6
- 238000009834 vaporization Methods 0.000 description 6
- 238000000151 deposition Methods 0.000 description 4
- 239000012528 membrane Substances 0.000 description 4
- 239000002912 waste gas Substances 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000007850 degeneration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000011896 sensitive detection Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
- F02D41/2425—Particular ways of programming the data
- F02D41/2429—Methods of calibrating or learning
- F02D41/2451—Methods of calibrating or learning characterised by what is learned or calibrated
- F02D41/2454—Learning of the air-fuel ratio control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/047—Taking into account fuel evaporation or wall wetting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
- F02D41/263—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor the program execution being modifiable by physical parameters
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/3011—Controlling fuel injection according to or using specific or several modes of combustion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/3011—Controlling fuel injection according to or using specific or several modes of combustion
- F02D41/3064—Controlling fuel injection according to or using specific or several modes of combustion with special control during transition between modes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
- F02D41/3094—Controlling fuel injection the fuel injection being effected by at least two different injectors, e.g. one in the intake manifold and one in the cylinder
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention relates to a method for adapting transient compensation on the basis of a lambda-value change to operate an internal combustion engine comprising a combustion chamber. The combustion chamber comprises a first inlet port, connected to a first intake tube, in which tube a first injection valve is arranged. The combustion chamber further comprises a second inlet port, connected to a second intake tube, in which tube a second injection valve is arranged. In a normal mode of operation, a predetermined fuel quantity is injected, the predetermined fuel quantity being composed of a first fuel quantity to be injected through the first inlet valve and a second fuel quantity to be injected through the second inlet valve. In a first method step, the first injection valve remains closed and in a second method step, the first injection valve is opened again, wherein in the second method step, a first test fuel quantity is injected into the combustion chamber via the first inlet port and a second test fuel quantity via the second inlet port, the first test fuel quantity and the second test fuel quantity adding up to the predetermined fuel quantity.
Description
Technical field
The present invention relates to the internal-combustion engine according to claim 1 preamble.
Background technique
This internal-combustion engine is generally known and by running to the mode of firing chamber delivery air-fuel mixture during aspirating stroke.In order to produce air-fuel mixture, the fuel of prearranging quatity to be ejected in suction tude and to be atomized by injection valve, and this suction tude is connected with firing chamber by suction port.At this, the closure be arranged in this suction tude determines to suck great amount of fresh air to direction, firing chamber.Along with opening of closure causes pressure to raise in suction tude, thus, the vaporization tendency of the fuel sprayed into reduces.With to be such as ejected into together with the fuel on air inlet tube wall by injection valve, fuel also accumulates in when closure is opened on air inlet tube wall due to the vaporization tendency reduced.Pressure drop in the situation lower inlet duct of closed throttle, vaporization tendency rises and the fuel accumulated on wall evaporates in suction tude, and thus, air-fuel mixture thickens.In both of these case, delivery to the fuel quantity of firing chamber in other words natural fuel amount and predetermined set fuel amount nominal fuel amount is different in other words.
Therefore generally known, coordinate the predetermined set fuel amount that is ejected in suction tude like this: the fuel loss that such as caused by the deposition of fuel on wall or gather or additional amount are compensated when load variations.This way is called as transition and compensates and be such as illustrated in document DE102007005381A1.Be necessary that in the transition compensation range of economy and environmental protection, to know on the one hand and runnability at that time be should be much for the fuel quantity change needed for compensating, want the next fuel quantity predetermined according to Operational Limits, the correction of such as suction press of this knowledge of reason on the other hand.At this, know more accurate for transition compensates necessary fuel change amount, the adaptation that transition compensates just can more accurately be carried out.Do not have if transition compensates or carry out mistakenly, then depositing the danger that air-fuel mixture is in a combustion chamber thinning or thicken.Then interruption in power can be there is in these conditions until burning cutoff.On the other hand, be defined as transition as far as possible exactly to compensate necessary fuel quantity and make internal-combustion engine can low exhaust and stably running.
In order to determine that compensation rate can take into account the characteristic of the wall film in tracheae.Gather the fuel quantity that deposits in other words thus the characteristic of wall film especially its thickness and a lot of parameter correlations, such as intake manifold temperature, suction tude pressure and rotating speed.Therefore meet target it is possible to according to these parameters especially for different runnability identify wall film characteristic and by the understanding of this coherence is come at different conditions adaptive transition compensate.Usually the fuel quantity sprayed is controlled and the transition compensation needed respectively in this consideration, by control unit or by controller especially when load changing according to runnability at this.
Know if disposable for each internal-combustion engine other, the compensating the coherence of necessary change and different parameters, especially suction press for transition and compensate for the transition of often kind of fortune situation adaptation of the fuel that will spray, then can not get rid of, change along with the time for transition compensates the change of necessary fuel quantity.In fact more will be understood that, the characteristic of wall film and thus for transition compensate necessary fuel change such as due to the dirt of suction tude or analog along with the time changes.Require again adaptive transition to compensate, to ensure that internal-combustion engine runs to low emission as far as possible to the compensation of this change.With the adaptive transition of the repetition of the method for prior art compensate not only cost high but also consuming time for a long time and be related to high expense.
Summary of the invention
The inventive method compensated according to the transition for adaptive internal-combustion engine of main claim it is possible to cost rationally and do not infer the deviation with the fuel quantity arranged for firing chamber with not needing large additional consumption relative to the advantage that prior art has.
According to the present invention's regulation, during the first method step, stop fuel to lead in the suction tude (that is the first suction tude) of firing chamber to one spray.Simultaneously during this first method step by the second suction tude or by other suction tude multiple to firing chamber delivery alternative fuel amount, this alternative fuel amount is equivalent to the fuel quantity be injected in normal operation in two or all suction tude.
The carburretion gathered on the first air inlet tube wall during this first method step, makes the air-fuel mixture imported in firing chamber thicken.
The air-fuel mixture occurred during the first method step thicken can by the change of λ value, that is by λ value change determine.At this, in the outlet of multiple firing chambers that are that be preferably placed in described firing chamber or that exist in internal-combustion engine or the λ probe be arranged in exhaust pipeline section know λ value, the residue oxygen content in the waste gas of being discharged by firing chamber quantizes by this λ value.Especially, during the first method step, can be observed rich oil degenerate (Fettausflug), namely λ value reduces also with and then raising.
In the second method step, the first test fuel amount to be ejected in the first suction tude by the first injection valve and the second test fuel amount is sprayed in the second suction tude by the second injection valve.At this, the first and second test fuel amounts and be equivalent to normal operating predetermined quantity of fuel or described alternative fuel amount.This causes, in the first suction tude on wall accumulate fuel and delivery is thinning to the air-fuel mixture in firing chamber.During the second method step, λ value change presents with the formation of oil-poor degeneration (Magerausflug), and namely first λ value raises and and reduce.
Rich oil is degenerated and/or the size of oil-poor degeneration and duration are the yardsticks of natural fuel amount in firing chamber and the quantity difference between nominal fuel amount.Therefore the λ value change will observed for runnability at that time according to the present invention is used for adaptive transition and compensates.At this, according to the present invention advantageously, use the λ probe usually existed in internal-combustion engine, because the sensitive detection parts causing surcharge using other can be abandoned like this, such as or the sensitive detection parts of wall membrane property.In addition method according to the present invention provides such advantage: not only consider that caused by fuel gathering or depositing on the wall of suction tude with deviation that is nominal fuel amount, and considers the deviation that caused by other potential cause.
In the preferred embodiment of the present invention, by the first and second fuel quantities and/or in the second method step, the first and second test fuel amounts are ejected in suction tude in the same manner under normal operation.At this advantageously, injection valve can be that structure is identical, can avoid the fringe cost caused owing to producing another kind of type injection valve thus.
If repeat the method for different runnability, then obtain about natural fuel amount and nominal fuel amount to likely the deviation that runnability is relevant general view and adaptive transition can be carried out for often kind of runnability and compensate.Specify in the preferred embodiment of the present invention, formulate characterisitic family, the transition be adapted compensates corresponding with to runnability at that time by it.Especially specify, by control program, such as by DOE program pin, often kind of runnability is revised to the fuel quantity that will spray.The special advantage of this mode of execution is, runs to the special low emission of internal-combustion engine and ensure the stable operation of internal-combustion engine at this under different runnability.
In another preferred implementation of the present invention, when the first method step starts and/or when the second method step starts, know that λ value changes.If only sense λ value change when the second method step starts when the first method step starts or only, then advantageously reduce the evaluation cost of λ probe.If not only determined that λ value changed when the first method step starts but also when the second method step starts, then measuring accuracy can be improved.
According to another preferred implementation regulation of the present invention, working, run duration performs the first and second method steps, namely knows with the deviation of the nominal fuel amount arranged for firing chamber and it is used for adaptive transition to compensate.Work is run and is interpreted as not only for the operation of test purpose.At this particularly advantageously, abandon testing in the preparatory stage with expending time in all runnability of imagining and then formulate characteristic family.Replace regulation, once internal-combustion engine runs under the runnability be not considered so far, then existing indicatrix group is before compensated according to the transition be adapted and expand or revise, know the characteristic family of natural fuel amount and nominal fuel amount in this way step by step, i.e. wall membrane property.
In another preferred implementation of the present invention, again compensate for the adaptive transition of different runnability after scheduled time.If the coherence of wall membrane property or change for runnability with the deviation of the fuel quantity arranged for firing chamber of internal-combustion engine, then compensate with the new transition be adapted and substitute until the transition that this time point uses compensates.
In another preferred implementation of the present invention, once determine that the discharge of internal-combustion engine after combustion process changes, especially be deteriorated, then internal-combustion engine is independently transformed into test phase (that is performing the first and second method steps) in next back to back as far as possible opportunity.Be deteriorated such as can by normal operation with the deviation of the rating value of λ value or also show by the variation of waste gas value.In test phase, under different possible runnability, know wall membrane property according to one of preceding method and then adaptive transition compensation again.
Accompanying drawing explanation
Shown in the drawings and describe embodiments of the invention in detail in follow-up declaratives.
Accompanying drawing illustrates:
The diagram of a part for Fig. 1 internal-combustion engine;
The indicative icon of a part for Fig. 2 a internal-combustion engine, it implements the first method step according to the method for exemplary embodiment of the invention, and wherein, Fig. 2 b and Fig. 2 c illustrates the fuel quantity change in time gathered, and Fig. 2 d illustrates λ value change in time;
The indicative icon of a part for Fig. 3 a internal-combustion engine, it implements the second method step of method according to an illustrative embodiment of the invention, and wherein, Fig. 3 b and Fig. 3 c illustrates the fuel quantity change in time gathered, and Fig. 3 d illustrates λ value change in time.
Embodiment
The diagram of a part for internal-combustion engine 1 shown in Figure 1, this internal-combustion engine comprises firing chamber 2, injection valve 12, suction valve 10', ignition device 13, injection valve port 14, suction port 10 and the first suction tude 11, fuel 3 is ejected in the first suction tude 11 to direction, firing chamber, is also provided with the second suction tude (not shown in FIG).This fuel is atomized with the form of atomizer cone when spraying, and this illustrates by dotted line in FIG.This diagram can be found out, in the real mode of execution of internal-combustion engine 1, when spraying, fuel 3 is also injected on the wall of suction tude 11.
The indicative icon of a part for described internal-combustion engine 1 shown in Fig. 2 a and Fig. 2 b, it implements the first method step of method according to an illustrative embodiment of the invention.This internal-combustion engine has firing chamber 2, first suction tude 11 and the second suction tude 21, and has at least one injection valve for each suction tude, that is, have at least two injection valves 12,22.Firing chamber 2 is configuration like this, piston (not shown in the accompanying drawings) can be moved and the wall of firing chamber has two suction ports, 10,20 and two relief openings 30,31 wherein, air-fuel mixture is sucked by described two suction ports, and untreated waste gas is discharged to outlet pipe 32,33 from firing chamber 2 by described two relief openings after the combustion process of air-fuel mixture.Usually have λ to pop one's head in the outlet port of firing chamber 2, this probe can know the residue oxygen content in waste gas.In normal operation, by two injection valves 12,22, predetermined fuel quantity is ejected in suction tude 11,12 towards suction port 10,20 direction of correspondence, thus, in corresponding suction tude, forms air-fuel mixture together with the air sucked.The air quantity sucked changes by closure.When internal-combustion engine 1 such as should provide higher moment of torsion, closure is opened.In this case, the pressure in suction tude 11,21 improves, and the vaporization tendency of fuel declines and a part for fuel accumulates on wall.When air-fuel mixture by delivery to firing chamber 2 time, the fuel that this wall gathers together with spray time the fuel be ejected on this wall lack from air-fuel mixture.When closed throttle, suction press declines, and the vaporization of fuel tendency rises, to accumulate in the fuel vaporization on air inlet tube wall to the volume of suction tude and finally by additionally delivery to firing chamber 2.Therefore, not only when closing but also should expect when opening: be not that set fuel quantity arrives in firing chamber.Delivery is different from nominal fuel amount to the fuel quantity of firing chamber.In order to together consider such as to gather the fuel change depositing in other words and cause by fuel on air inlet tube wall 11,21 when the predetermined fuel that will spray, require to know, natural fuel amount and nominal fuel amount are distinguished much on earth.
Fig. 2 illustrates the first method step, and wherein, the first injection valve 12 cuts out at least one complete cycle, makes do not have fuel to be ejected in the first suction tude 11 and at the wall upper wall film of suction tude and disappears.Meanwhile, the second injection valve 22 sprays alternative fuel amount 4 in the second suction tude 21, and its amount is just equivalent to the fuel quantity (being illustrated by " 2x " of bold print in the drawings) jointly sprayed into by two injection valves in normal operation.Fig. 2 b illustrates, first method step period first suction tude 310 wall on fuel accumulated amount 300 to decline in time.And the fuel on the wall of the second suction tude 320 gather for the time 300 keep constant, as illustrated in figure 2 c.
Can determine by λ probe, between wall thin layer paracmasis, the λ value 330 recorded 300 to reduce first in time, and is returned to the λ value that λ probe recorded before injection valve cuts out.The decline in short-term of this λ value and and then rising, the i.e. change of this λ value are called as rich oil and degenerate and illustrate in figure 2d.
Schematically show the second method step of method according to an illustrative embodiment of the invention in figure 3.In the second method step, the first injection valve 12 is opened again, and the first test fuel amount 6 is injected in the first suction tude 11.First test fuel amount 6 forms the fuel quantity that is equivalent to normal operating predetermined quantity of fuel or described alternative fuel amount with being ejected into by the second injection valve 22 together with the second test fuel amount 6' in second suction tude 21.During the second method step, in the first suction tude 11, fuel accumulates on wall again, that is, the fuel on the wall of the first suction tude 310 gathers and 300 to rise in time.This illustrates in fig 3b.Fig. 3 c illustrates, the fuel on the wall of the second suction tude 320 gathers and keeps constant.Also can determine during the second method step, first λ value 300 raises and is then returned to λ and to pop one's head in the λ value had before injection valve is opened in time.The rising in short-term of this λ value and and then decline and be called as oil-poor degeneration and shown in Fig. 3 d.
First and second method steps repeating under different runnability makes it possible to for runnability at that time to determine that delivery is to the difference of the natural fuel amount of the fuel of firing chamber and nominal fuel amount.
Then allow often kind of runnability for internal-combustion engine 1 to revise predetermined fuel quantity to the understanding of the deviation relative to the fuel quantity arranged for firing chamber 2, that is, adaptive transition can be carried out for runnability at that time respectively and compensate.
Claims (8)
1. compensate to run the method with the internal-combustion engine (1) of firing chamber (2) for carrying out adaptive transition according to λ value change, wherein, firing chamber comprises the first suction port (10) be connected with the first suction tude (11), the first injection valve (12) is furnished with in this first suction tude, firing chamber (2) comprises the second suction port (20) be connected with the second suction tude (21), the second injection valve (22) is furnished with in this second suction tude, wherein, a predetermined quantity of fuel is sprayed and this predetermined quantity of fuel is made up of first fuel quantity that will be sprayed by the first injection valve (12) and second fuel quantity that will be sprayed by the second injection valve (22) in normal operation, it is characterized in that, in the first method step this first injection valve (12) keep close and in the second method step this first injection valve (12) be opened again, wherein, in this second method step, first test fuel amount (6) is sprayed by the first injection valve (12) and (6') the second test fuel amount is sprayed by the second injection valve (22), wherein, (6') this first test fuel amount (6) and this second test fuel amount form described predetermined quantity of fuel.
2. the method for claim 1, it is characterized in that, in normal operation, the first fuel quantity sprayed by described first injection valve (12) and the second fuel quantity sprayed by described second injection valve (22) are identical, and/or, in the second method step, the first test fuel amount of being sprayed by described first injection valve (12) and the second test fuel amount of being sprayed by described second injection valve (22) are identical.
3. the method as described in one of aforementioned claim, is characterized in that, observes λ value change when the first and/or second method step starts and/or in process.
4. according to the method for one of described claim, it is characterized in that, the adaptation that described transition compensates is carried out for different runnability according to λ value change.
5. method according to claim 4, is characterized in that, the transition respectively for corresponding runnability adaptation is compensated store and when described internal-combustion engine (1) normally runs for runnability at that time at burner oil time take in.
6. according to the method for one of described claim, it is characterized in that, as long as confirm that the change of the discharge characteristics of described internal-combustion engine (1) exceeds predetermined value, then compensate at least one runnability again adaptive transition.
7. according to the method for one of described claim, it is characterized in that, after internal-combustion engine (1) work operation predetermined amount of time, adaptive transition compensates again.
8. according to the method for one of described claim, it is characterized in that, the control of the fuel quantity sprayed is undertaken by computer control.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013206551.5A DE102013206551A1 (en) | 2013-04-12 | 2013-04-12 | Method for adapting the transition compensation |
| DE102013206551.5 | 2013-04-12 | ||
| PCT/EP2014/052709 WO2014166654A1 (en) | 2013-04-12 | 2014-02-12 | Method for adapting transient compensation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105143647A true CN105143647A (en) | 2015-12-09 |
| CN105143647B CN105143647B (en) | 2018-07-31 |
Family
ID=50101887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480021028.1A Active CN105143647B (en) | 2013-04-12 | 2014-02-12 | Method for being adapted to transition compensation |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US9926869B2 (en) |
| EP (1) | EP2984323A1 (en) |
| JP (1) | JP6220444B2 (en) |
| KR (1) | KR102121722B1 (en) |
| CN (1) | CN105143647B (en) |
| BR (1) | BR112015025552B1 (en) |
| DE (1) | DE102013206551A1 (en) |
| RU (1) | RU2649308C9 (en) |
| WO (1) | WO2014166654A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20160084183A1 (en) | 2016-03-24 |
| WO2014166654A1 (en) | 2014-10-16 |
| BR112015025552A2 (en) | 2017-07-18 |
| RU2015148493A (en) | 2017-05-22 |
| KR20150139862A (en) | 2015-12-14 |
| JP6220444B2 (en) | 2017-10-25 |
| EP2984323A1 (en) | 2016-02-17 |
| CN105143647B (en) | 2018-07-31 |
| BR112015025552B1 (en) | 2022-03-29 |
| KR102121722B1 (en) | 2020-06-11 |
| RU2649308C9 (en) | 2018-05-04 |
| DE102013206551A1 (en) | 2014-10-16 |
| JP2016514800A (en) | 2016-05-23 |
| US9926869B2 (en) | 2018-03-27 |
| RU2649308C2 (en) | 2018-04-02 |
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